com.neuronrobotics.sdk.pid.InterpolationEngine Class Reference

Collaboration diagram for com.neuronrobotics.sdk.pid.InterpolationEngine:

Public Member Functions
void	SetVelocity (double unitsPerSecond)
double	getPosition ()
void	StartLinearMotion (double setpoint, double seconds, long startTimeMs)
void	StartSinusoidalMotion (double setpoint, double seconds, long startTimeMs)
void	setSetpointWithTime (long startTimeMs, double setpoint, double seconds, InterpolationType mode, double ...conf)
void	StartTrapezoidalMotion (double setpoint, double seconds, double trapazoidalTime, long startTimeMs)
boolean	update (long time)
synchronized void	ResetEncoder (double value)
double	getInterpolationUnitIncrement (long time)
double	getTicks ()
void	setTicks (double ticks)
InterpolationType	getType ()
void	setType (InterpolationType type)
double	getUnitDuration ()
void	setUnitDuration (double unitDuration)

Private Member Functions
void	interpolate (long time)

Private Attributes
InterpolationType	type = InterpolationType.LINEAR
double	ticks =0
double	lastTick =getTicks()
double	endSetpoint =0
double	duration
double	startTime
double	startSetpoint
boolean	pause = false
double	unitDuration
double	TRAPEZOIDAL_time =0
double	BEZIER_P0
double	BEZIER_P1
double	interpElapsed
double	sinPortion
double	lengthOfLinearMode
double	unitLienear
double	unitRamp
double	unitStartRampDown
double	increment
double	sinPortion2
double	increment2
double	sinPortion3
double	t
double	p0
double	p1
double	p2
double	p3
double	setpointDiff
double	newSetpoint

Detailed Description

The Class LinearInterpolationEngine.

Definition at line 7 of file InterpolationEngine.java.

Member Function Documentation

getInterpolationUnitIncrement()

double com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement

(

long

time

)

Definition at line 180 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationType.BEZIER, com.neuronrobotics.sdk.pid.InterpolationEngine.BEZIER_P0, com.neuronrobotics.sdk.pid.InterpolationEngine.BEZIER_P1, com.neuronrobotics.sdk.pid.InterpolationEngine.duration, com.neuronrobotics.sdk.pid.InterpolationEngine.getUnitDuration(), com.neuronrobotics.sdk.pid.InterpolationEngine.increment, com.neuronrobotics.sdk.pid.InterpolationEngine.increment2, com.neuronrobotics.sdk.pid.InterpolationEngine.interpElapsed, com.neuronrobotics.sdk.pid.InterpolationEngine.lengthOfLinearMode, com.neuronrobotics.sdk.pid.InterpolationEngine.p0, com.neuronrobotics.sdk.pid.InterpolationEngine.p1, com.neuronrobotics.sdk.pid.InterpolationEngine.p2, com.neuronrobotics.sdk.pid.InterpolationEngine.p3, com.neuronrobotics.sdk.pid.InterpolationEngine.setUnitDuration(), com.neuronrobotics.sdk.pid.InterpolationEngine.sinPortion, com.neuronrobotics.sdk.pid.InterpolationEngine.sinPortion2, com.neuronrobotics.sdk.pid.InterpolationEngine.sinPortion3, com.neuronrobotics.sdk.pid.InterpolationType.SINUSOIDAL, com.neuronrobotics.sdk.pid.InterpolationEngine.startTime, com.neuronrobotics.sdk.pid.InterpolationEngine.t, com.neuronrobotics.sdk.pid.InterpolationType.TRAPEZOIDAL, com.neuronrobotics.sdk.pid.InterpolationEngine.TRAPEZOIDAL_time, com.neuronrobotics.sdk.pid.InterpolationEngine.type, com.neuronrobotics.sdk.pid.InterpolationEngine.unitLienear, com.neuronrobotics.sdk.pid.InterpolationEngine.unitRamp, and com.neuronrobotics.sdk.pid.InterpolationEngine.unitStartRampDown.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.blockingInterpolatedMove(), and com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate().

Here is the call graph for this function:

getPosition()

double com.neuronrobotics.sdk.pid.InterpolationEngine.getPosition

(

)

Gets the position.

Returns

the position

Definition at line 67 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.getTicks().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.GetPIDPosition().

Here is the call graph for this function:

getTicks()

double com.neuronrobotics.sdk.pid.InterpolationEngine.getTicks

(

)

Gets the ticks.

Returns

the ticks

Definition at line 271 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.ticks.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getPosition(), com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime(), and com.neuronrobotics.sdk.pid.InterpolationEngine.update().

getType()

InterpolationType com.neuronrobotics.sdk.pid.InterpolationEngine.getType

(

)

Definition at line 288 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.type.

getUnitDuration()

double com.neuronrobotics.sdk.pid.InterpolationEngine.getUnitDuration

(

)

Definition at line 296 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.unitDuration.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), and com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate().

interpolate()

void com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate ( long  time )

private

Interpolate.

Parameters

time

Definition at line 236 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.endSetpoint, com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), com.neuronrobotics.sdk.pid.InterpolationEngine.getUnitDuration(), com.neuronrobotics.sdk.pid.InterpolationEngine.newSetpoint, com.neuronrobotics.sdk.pid.InterpolationEngine.setpointDiff, com.neuronrobotics.sdk.pid.InterpolationEngine.setTicks(), com.neuronrobotics.sdk.pid.InterpolationEngine.setUnitDuration(), and com.neuronrobotics.sdk.pid.InterpolationEngine.startSetpoint.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.update().

Here is the call graph for this function:

ResetEncoder()

synchronized void com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder

(

double

value

)

Reset encoder.

Parameters

value

the value

Definition at line 158 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.duration, com.neuronrobotics.sdk.pid.InterpolationEngine.endSetpoint, com.neuronrobotics.sdk.pid.InterpolationEngine.lastTick, com.neuronrobotics.sdk.pid.InterpolationEngine.setTicks(), com.neuronrobotics.sdk.pid.InterpolationEngine.startSetpoint, and com.neuronrobotics.sdk.pid.InterpolationEngine.startTime.

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.ResetPIDChannel().

Here is the call graph for this function:

setSetpointWithTime()

void com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime	(	long	startTimeMs,
		double	setpoint,
		double	seconds,
		InterpolationType	mode,
		double ...	conf
	)

Definition at line 92 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationType.BEZIER, com.neuronrobotics.sdk.pid.InterpolationEngine.BEZIER_P0, com.neuronrobotics.sdk.pid.InterpolationEngine.BEZIER_P1, com.neuronrobotics.sdk.pid.InterpolationEngine.duration, com.neuronrobotics.sdk.pid.InterpolationEngine.endSetpoint, com.neuronrobotics.sdk.pid.InterpolationEngine.getTicks(), com.neuronrobotics.sdk.pid.InterpolationEngine.startSetpoint, com.neuronrobotics.sdk.pid.InterpolationEngine.startTime, com.neuronrobotics.sdk.pid.InterpolationType.TRAPEZOIDAL, com.neuronrobotics.sdk.pid.InterpolationEngine.TRAPEZOIDAL_time, and com.neuronrobotics.sdk.pid.InterpolationEngine.type.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.blockingInterpolatedMove(), com.neuronrobotics.sdk.pid.InterpolationEngine.StartLinearMotion(), com.neuronrobotics.sdk.pid.InterpolationEngine.StartSinusoidalMotion(), and com.neuronrobotics.sdk.pid.InterpolationEngine.StartTrapezoidalMotion().

Here is the call graph for this function:

setTicks()

void com.neuronrobotics.sdk.pid.InterpolationEngine.setTicks

(

double

ticks

)

Sets the ticks.

Parameters

ticks

the new ticks

Definition at line 280 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.ticks.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate(), and com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder().

setType()

void com.neuronrobotics.sdk.pid.InterpolationEngine.setType

(

InterpolationType

type

)

Definition at line 292 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.type.

setUnitDuration()

void com.neuronrobotics.sdk.pid.InterpolationEngine.setUnitDuration

(

double

unitDuration

)

Definition at line 300 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.unitDuration.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), and com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate().

SetVelocity()

void com.neuronrobotics.sdk.pid.InterpolationEngine.SetVelocity

(

double

unitsPerSecond

)

Sets the velocity.

Parameters

unitsPerSecond

the units per second

Definition at line 58 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetPDVelocity().

StartLinearMotion()

void com.neuronrobotics.sdk.pid.InterpolationEngine.StartLinearMotion	(	double	setpoint,
		double	seconds,
		long	startTimeMs
	)

Sets the pid set point.

Parameters

setpoint	the setpoint
seconds	the seconds

Definition at line 79 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationType.LINEAR, and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetAllPIDSetPoint(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetPIDSetPoint().

Here is the call graph for this function:

StartSinusoidalMotion()

void com.neuronrobotics.sdk.pid.InterpolationEngine.StartSinusoidalMotion	(	double	setpoint,
		double	seconds,
		long	startTimeMs
	)

Sets the pid set point.

Parameters

setpoint	the setpoint
seconds	the seconds

Definition at line 88 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime(), and com.neuronrobotics.sdk.pid.InterpolationType.SINUSOIDAL.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.StartTrapezoidalMotion().

Here is the call graph for this function:

StartTrapezoidalMotion()

void com.neuronrobotics.sdk.pid.InterpolationEngine.StartTrapezoidalMotion	(	double	setpoint,
		double	seconds,
		double	trapazoidalTime,
		long	startTimeMs
	)

Definition at line 116 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime(), com.neuronrobotics.sdk.pid.InterpolationEngine.StartSinusoidalMotion(), and com.neuronrobotics.sdk.pid.InterpolationType.TRAPEZOIDAL.

Here is the call graph for this function:

update()

boolean com.neuronrobotics.sdk.pid.InterpolationEngine.update

(

long

time

)

Update.

Returns

true, if successful

Definition at line 144 of file InterpolationEngine.java.

References com.neuronrobotics.sdk.pid.InterpolationEngine.getTicks(), com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate(), and com.neuronrobotics.sdk.pid.InterpolationEngine.lastTick.

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SyncThread.run().

Here is the call graph for this function:

Member Data Documentation

BEZIER_P0

double com.neuronrobotics.sdk.pid.InterpolationEngine.BEZIER_P0

private

Definition at line 32 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

BEZIER_P1

double com.neuronrobotics.sdk.pid.InterpolationEngine.BEZIER_P1

private

Definition at line 33 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

duration

double com.neuronrobotics.sdk.pid.InterpolationEngine.duration

private

The duration.

Definition at line 19 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

endSetpoint

double com.neuronrobotics.sdk.pid.InterpolationEngine.endSetpoint =0

private

The set point.

Definition at line 16 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate(), com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

increment

double com.neuronrobotics.sdk.pid.InterpolationEngine.increment

private

Definition at line 40 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

increment2

double com.neuronrobotics.sdk.pid.InterpolationEngine.increment2

private

Definition at line 42 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

interpElapsed

double com.neuronrobotics.sdk.pid.InterpolationEngine.interpElapsed

private

Definition at line 34 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

lastTick

double com.neuronrobotics.sdk.pid.InterpolationEngine.lastTick =getTicks()

private

The last tick.

Definition at line 13 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder(), and com.neuronrobotics.sdk.pid.InterpolationEngine.update().

lengthOfLinearMode

double com.neuronrobotics.sdk.pid.InterpolationEngine.lengthOfLinearMode

private

Definition at line 36 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

newSetpoint

double com.neuronrobotics.sdk.pid.InterpolationEngine.newSetpoint

private

Definition at line 50 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate().

p0

double com.neuronrobotics.sdk.pid.InterpolationEngine.p0

private

Definition at line 45 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

p1

double com.neuronrobotics.sdk.pid.InterpolationEngine.p1

private

Definition at line 46 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

p2

double com.neuronrobotics.sdk.pid.InterpolationEngine.p2

private

Definition at line 47 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

p3

double com.neuronrobotics.sdk.pid.InterpolationEngine.p3

private

Definition at line 48 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

pause

boolean com.neuronrobotics.sdk.pid.InterpolationEngine.pause = false

private

The pause.

Definition at line 28 of file InterpolationEngine.java.

setpointDiff

double com.neuronrobotics.sdk.pid.InterpolationEngine.setpointDiff

private

Definition at line 49 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate().

sinPortion

double com.neuronrobotics.sdk.pid.InterpolationEngine.sinPortion

private

Definition at line 35 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

sinPortion2

double com.neuronrobotics.sdk.pid.InterpolationEngine.sinPortion2

private

Definition at line 41 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

sinPortion3

double com.neuronrobotics.sdk.pid.InterpolationEngine.sinPortion3

private

Definition at line 43 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

startSetpoint

double com.neuronrobotics.sdk.pid.InterpolationEngine.startSetpoint

private

The start point.

Definition at line 25 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.interpolate(), com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

startTime

double com.neuronrobotics.sdk.pid.InterpolationEngine.startTime

private

The start time.

Definition at line 22 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

t

double com.neuronrobotics.sdk.pid.InterpolationEngine.t

private

Definition at line 44 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

ticks

double com.neuronrobotics.sdk.pid.InterpolationEngine.ticks =0

private

The ticks.

Definition at line 10 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getTicks(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setTicks().

TRAPEZOIDAL_time

double com.neuronrobotics.sdk.pid.InterpolationEngine.TRAPEZOIDAL_time =0

private

Definition at line 31 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime().

type

InterpolationType com.neuronrobotics.sdk.pid.InterpolationEngine.type = InterpolationType.LINEAR

private

Definition at line 8 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement(), com.neuronrobotics.sdk.pid.InterpolationEngine.getType(), com.neuronrobotics.sdk.pid.InterpolationEngine.setSetpointWithTime(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setType().

unitDuration

double com.neuronrobotics.sdk.pid.InterpolationEngine.unitDuration

private

Definition at line 30 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getUnitDuration(), and com.neuronrobotics.sdk.pid.InterpolationEngine.setUnitDuration().

unitLienear

double com.neuronrobotics.sdk.pid.InterpolationEngine.unitLienear

private

Definition at line 37 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

unitRamp

double com.neuronrobotics.sdk.pid.InterpolationEngine.unitRamp

private

Definition at line 38 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

unitStartRampDown

double com.neuronrobotics.sdk.pid.InterpolationEngine.unitStartRampDown

private

Definition at line 39 of file InterpolationEngine.java.

Referenced by com.neuronrobotics.sdk.pid.InterpolationEngine.getInterpolationUnitIncrement().

---

The documentation for this class was generated from the following file:

• java-bowler/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java